KR100903665B1 - 가가속도 정보를 이용한 차량의 운동 제어장치 - Google Patents
가가속도 정보를 이용한 차량의 운동 제어장치 Download PDFInfo
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- KR100903665B1 KR100903665B1 KR1020080045070A KR20080045070A KR100903665B1 KR 100903665 B1 KR100903665 B1 KR 100903665B1 KR 1020080045070 A KR1020080045070 A KR 1020080045070A KR 20080045070 A KR20080045070 A KR 20080045070A KR 100903665 B1 KR100903665 B1 KR 100903665B1
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- Prior art keywords
- vehicle
- acceleration
- dot
- yaw moment
- detecting
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- 230000001133 acceleration Effects 0.000 title claims abstract description 138
- 230000008859 change Effects 0.000 claims abstract description 26
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/064—Degree of grip
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/103—Side slip angle of vehicle body
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/114—Yaw movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/04—Jerk, soft-stop; Anti-jerk, reduction of pitch or nose-dive when braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/14—Yaw
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/14—Yaw
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JPJP-P-2007-00132987 | 2007-05-18 | ||
JP2007132987A JP4568302B2 (ja) | 2007-05-18 | 2007-05-18 | 加加速度情報を用いた車両の前後加速度制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20080101738A KR20080101738A (ko) | 2008-11-21 |
KR100903665B1 true KR100903665B1 (ko) | 2009-06-18 |
Family
ID=39730727
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020080045070A KR100903665B1 (ko) | 2007-05-18 | 2008-05-15 | 가가속도 정보를 이용한 차량의 운동 제어장치 |
Country Status (5)
Country | Link |
---|---|
US (4) | US7979180B2 (de) |
EP (3) | EP1992537B1 (de) |
JP (1) | JP4568302B2 (de) |
KR (1) | KR100903665B1 (de) |
CN (2) | CN102107660B (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR102149762B1 (ko) * | 2019-04-04 | 2020-08-31 | 한국항공우주연구원 | 비행체의 충돌추락 감지장치 및 그 운영시스템 |
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US8744689B2 (en) * | 2007-07-26 | 2014-06-03 | Hitachi, Ltd. | Drive controlling apparatus for a vehicle |
JP5193885B2 (ja) * | 2009-01-13 | 2013-05-08 | 日立オートモティブシステムズ株式会社 | 車両の運動制御装置 |
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FR2955943B1 (fr) * | 2010-01-29 | 2012-06-15 | Renault Sa | Systeme et procede de suivi de la trajectoire d'un vehicule |
US8392068B2 (en) * | 2010-02-02 | 2013-03-05 | Toyota Jidosha Kabushiki Kaisha | Vehicle behavior control device |
WO2011152214A1 (ja) * | 2010-06-04 | 2011-12-08 | 三菱電機株式会社 | 自動操舵装置 |
JP5378318B2 (ja) | 2010-07-30 | 2013-12-25 | 日立オートモティブシステムズ株式会社 | 車両運動制御装置 |
EP2623385B1 (de) * | 2010-09-29 | 2019-08-21 | Toyota Jidosha Kabushiki Kaisha | Steuervorrichtung für ein fahrzeug |
CN102730000B (zh) * | 2011-03-31 | 2016-06-01 | 比亚迪股份有限公司 | 车辆动态质心的计算方法、横摆力矩的计算方法和*** |
JP5764656B2 (ja) | 2011-05-11 | 2015-08-19 | 日立オートモティブシステムズ株式会社 | 車両運動制御装置 |
JP5417386B2 (ja) * | 2011-07-01 | 2014-02-12 | 日立オートモティブシステムズ株式会社 | 車両運動制御装置 |
US8700282B2 (en) * | 2011-07-28 | 2014-04-15 | Advics Co., Ltd. | Method and apparatus for vehicle sway detection and reduction |
JP5809506B2 (ja) * | 2011-09-27 | 2015-11-11 | 日立オートモティブシステムズ株式会社 | 車両運動制御装置及びサスペンション制御装置 |
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KR101355620B1 (ko) | 2012-11-09 | 2014-01-27 | 기아자동차주식회사 | 클러치의 터치포인트 탐색 방법 |
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JPH0516789A (ja) * | 1991-07-08 | 1993-01-26 | Hitachi Ltd | アンチスキツドブレーキ制御方法及びその装置 |
KR960000248B1 (ko) * | 1991-01-18 | 1996-01-03 | 가부시기가이샤 히다찌세이사꾸쇼 | 자동차의 운동제어장치 |
JPH1016599A (ja) | 1996-07-05 | 1998-01-20 | Mitsubishi Motors Corp | 車両用左右輪間動力伝達制御装置 |
KR100227600B1 (ko) | 1995-09-26 | 1999-11-01 | 가와모토 노부히코 | 차량의 요우 모우멘트 제어방법 |
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JPS61238571A (ja) * | 1985-04-15 | 1986-10-23 | Nissan Motor Co Ltd | 車両用操舵系制御装置 |
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CN102107660B (zh) | 2014-01-08 |
US20120323445A1 (en) | 2012-12-20 |
JP2008285066A (ja) | 2008-11-27 |
US20090192675A1 (en) | 2009-07-30 |
US20110231033A1 (en) | 2011-09-22 |
JP4568302B2 (ja) | 2010-10-27 |
CN101311050B (zh) | 2011-07-06 |
EP1992537B1 (de) | 2011-11-16 |
CN101311050A (zh) | 2008-11-26 |
US20120101657A1 (en) | 2012-04-26 |
EP1992537A3 (de) | 2010-08-25 |
CN102107660A (zh) | 2011-06-29 |
US8239096B2 (en) | 2012-08-07 |
US8112200B2 (en) | 2012-02-07 |
KR20080101738A (ko) | 2008-11-21 |
EP2433840B1 (de) | 2013-06-05 |
US7979180B2 (en) | 2011-07-12 |
US8515619B2 (en) | 2013-08-20 |
EP2626264A1 (de) | 2013-08-14 |
EP2433840A1 (de) | 2012-03-28 |
EP1992537A2 (de) | 2008-11-19 |
EP2626264B1 (de) | 2016-09-21 |
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